CN104071318A - Underwater rescue robot - Google Patents
Underwater rescue robot Download PDFInfo
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- CN104071318A CN104071318A CN201410323078.7A CN201410323078A CN104071318A CN 104071318 A CN104071318 A CN 104071318A CN 201410323078 A CN201410323078 A CN 201410323078A CN 104071318 A CN104071318 A CN 104071318A
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Abstract
The invention discloses an underwater rescue robot which comprises a frame structure, an electronic cabin group, a searchlighting system, a monitoring system, a positioning system, an operating system, a propelling system and a floatage module, wherein the propelling system comprises a left-front horizontal propeller, a right-front horizontal propeller, a left-back horizontal propeller, a right-back horizontal propeller, and a vertical propeller located at the middle of the robot, and the propelling system is used for providing power to the robot. By using the four horizontal propellers, the underwater rescue robot realizes advancing and retreating, turning and side-moving actions. The underwater rescue robot has the beneficial effects that the robot is simple in structure, flexible in movement and strong in power, and can be widely applied to resource exploration, routing inspection of structures and facility equipment, detection of channels, barrier removal, rescue of persons falling in water, searching of shipwrecks in water, fishing of vehicles and articles falling in water, and finding of underwater appointed articles after disaster accidents occur.
Description
Technical field
The present invention relates to robot building technical field, in particular, relate to one search and rescue robot under water.
Background technology
Under water in rescue operation, the severe operating environment such as low temperature, torrent, pollution is very big to rescue worker's actual bodily harm, and existing search and rescue means inefficiency, and rescue worker is implementing to run into larger difficulty in search and rescue process; Therefore, need development badly and be applicable to the moderate search and rescue robot under water that search and rescue in shallow water territory.
At present, the kind of under-water robot that is applied to search and rescue field is also very limited, by searching and rescuing the research and development of under-water robot, provides device support for increasing work efficiency, reduce personal casualty, has the economy and society meaning of objective reality.
The existing great majority of search and rescue robot are under water only suitable for working under marine environment, and cannot adapt to The turbulent river crashes its way through, or river course has under the environment of foreign material and works.Therefore, under complicated water environment, solve the technical matters of the flexible and efficient operation of under-water robot, become a technical barrier of this area.
Summary of the invention
The invention provides one search and rescue robot under water, under complicated water environment, realize flexible and efficient operation to realize.
In order to reach above function, the invention provides one search and rescue robot under water, comprise framed structure, it is characterized in that described framed structure mounted inside electronic compartment group, monitored control system, position fixing system, operating system, searchlighting system, propulsion system, buoyant module; Described electronic compartment group is made up of two cabin bodies, and power transfer module is installed in the first electronic compartment, and electronic control module is installed in the second electronic compartment; Cabin body comprises: cylindrical shell, flat head, and cylindrical shell adopts articulated manner to be connected with flat head; Described monitored control system is made up of the Underwater Camera and the imaging sonar that are positioned at framed structure front portion; Described position fixing system is made up of fixed sonar, and fixed sonar is arranged on top, framed structure left side; Described operating system is made up of manipulator, is installed on the anterior center position of framed structure, under water pick up camera under; Described propulsion system has multiple propelling units, disperses to be installed on and in framed structure, realizes robot Multidirectional motion; Described buoyant module is positioned at framed structure top.
Described framed structure is made up of a series of aluminium alloy plates, and that connection between them adopts is hinged, welding or bolt connect.The front portion of framework can be designed with one and rise angle.
Described monitored control system is made up of Underwater Camera and the imaging sonar of robot front portion; Described position fixing system refers to a kind of ultra-short baseline fixed sonar (USBL).Described Underwater Camera has a built-in The Cloud Terrace, built-in The Cloud Terrace can do 360 degree and rotatablely move, and camera is arranged on built-in The Cloud Terrace, can make like this camera do 360 degree and rotatablely move, imaging sonar is a kind of multi-beam sonar, imaging sonar be installed on Underwater Camera under.
Described monitored control system is made up of the Underwater Camera and the imaging sonar that are positioned at framed structure front portion; Described imaging sonar, is characterized in that, the angle between setting angle and the horizontal surface of imaging sonar is that 10 degree are to 20 degree.
Described position fixing system is made up of fixed sonar, and fixed sonar is a kind of ultra-short baseline fixed sonar, and fixed sonar is arranged on top, framed structure left side.And possesses special fixed sonar fender.
Described searchlighting system is made up of the first search lamp, the second search lamp and the 3rd search lamp that are positioned at framed structure front portion.The first search lamp, the second search lamp are positioned at framed structure upper front end, be arranged symmetrically with, the 3rd search lamp be arranged on manipulator directly over, three search lamp entirety are equicrural triangle and arrange.
Described operating system is made up of manipulator, and manipulator can complete certain under-water operation under the guide of pick up camera under water.
Described propulsion system is made up of 4 horizontal propellers and 1 vertical pusher.4 horizontal propellers are respectively: be positioned at the left front propelling unit of framed structure, be positioned at the right front propelling unit of framed structure, be positioned at the left back propelling unit of framed structure, be positioned at the right back propelling unit of framed structure; 1 vertical pusher is arranged in the midway location of framed structure; Fiveimprovements device is fixed in framed structure with five supports respectively, and the setting angle α 1 of 4 horizontal propellers, α 2, α 3, α 4 equate, the angle of this Robot Selection is 30 degree.By controlling these angle of rake rotatings, robot can be realized: advance and retreat, sink-float, translation, the action such as turn to: turn to when identical when four propelling unit rotating speeds are identical, robot can be realized and moving forward and backward; When left back, right front angle of rake turning to and left front, right back angle of rake switched in opposite, when rotating speed is identical, can realize angle of rake left side and move with right side and move work; When left front, left back angle of rake turning to and right front, right back angle of rake switched in opposite, rotating speed is identical is to realize angle of rake handling maneuver; Vertical pusher can control floating sink.Anti-hoisting net is housed on each propelling unit, to prevent that water grass from waiting foreign material to disturb angle of rake work.
In described buoyant module, be furnished with center through hole, the upper surface of buoyant module is a plane, and there is a boss at lower surface middle part, and meanwhile, upper surface has 4 grooves.
The invention has the beneficial effects as follows:
1, maneuverability is comparatively outstanding.This under water search and rescue robot utilize four propelling units at horizontal surface, advance and retreat, the translation of control and turning to.
2, observation and surveillance coverage are strong.In the time of observation, Underwater Camera is applicable to closely observation; Imaging sonar is applicable to remote observation, and can under muddy water quality environment, work.
3, the application of fixed sonar makes robot precise positioning under water.
To sum up, search and rescue robot under water provided by the invention sets out from actual combat, takes into full account user's demand, the outstanding practicality of having emphasized.
Brief description of the drawings
For technical scheme provided by the invention can be clearly described, below in conjunction with brief description of the drawings the specific embodiment of the present invention.Very significantly, the following drawings is just to the specializing of examples more of the present invention, and the similar accompanying drawing that the those of ordinary skill in under-water robot field obtains according to these accompanying drawings also belongs to the protection domain of this patent.
Fig. 1 is the overall construction drawing of search and rescue robot under fire demand water provided by the invention;
Fig. 2 is search and rescue robot propelling unit and electronic compartment group scheme of installation under fire demand water provided by the invention;
Fig. 3 is the constructional drawing of search and rescue robot buoyant module under fire demand water provided by the invention;
Fig. 4 is the distribution design figure of search and rescue robot under water provided by the invention.
Detailed description of the invention
The invention provides one search and rescue robot under water, to realize the flexible and efficient operation under complicated water environment.
As shown in Figure 1, Figure 2 and Figure 3, search and rescue robot under water provided by the invention, comprising: framed structure, electronic compartment group, monitored control system, position fixing system, operating system, searchlighting system, propulsion system, buoyant module.
Wherein, the supporting structure that framed structure is under-water robot, also, for various kinds of sensors and the actr of under-water robot provide preventing collision protection, meanwhile, also embodies the profile of under-water robot.The front portion of framework is designed with one and rises angle 11, can be like this operating system and brings larger working space.
Electronic compartment group is made up of two cabin bodies, and one is the first electronic compartment 21, and its inner power array provides power electric for whole robot, and one is the second electronic compartment 22, and its internal control module provides control signal for whole robot.Cabin body comprises: cylindrical shell 24, flat head 1 and flat head 2 25, cylindrical shell adopts articulated manner to be connected with flat head.On flat head 25, be equipped with and adopt the depth index being threaded.
Electronic compartment is connected with water surface control system by umbilical cables.Umbilical cables adopts center cable, has 11 cores: 2 cores are for power electric transmission; 2 core Double-strand transmission VSDL control signals are used for controlling manipulator, propelling unit and underwater lamp; 2 core Double-strand transmission VSDL signals are for the transmission of imaging sonar signal; 2 cores are for transmission video signal; 2 cores are for the transmission of RS485 signal, as space signal line; 1 ground protection line.Fixed sonar signal is by direct and water surface monitoring device (portable computer) communication by USB connection lead of fixed sonar water surface main computer unit.
Searchlighting system is made up of the first search lamp 31, the second search lamp 32 and the 3rd search lamp 33 that are positioned at framed structure front portion, and the first search lamp, the second search lamp are for integral illumination.The 3rd search lamp is manipulator illumination specially.
Monitored control system is made up of the Underwater Camera 41 and the imaging sonar 42 that are positioned at robot front portion.Imaging sonar be positioned at Underwater Camera under, can ensure like this conformability of two equipment observation as far as possible.The most important function of Underwater Camera is for closely observing underwater environment, and it is also used for instructing the action of manipulator simultaneously.Therefore manipulator must be positioned at pick up camera angular field of view, but can not be too much take the pick up camera ken, this can cause the observing capacity of pick up camera to decline.Imaging sonar is a kind of Acoustic observation equipment, is used for remote observation underwater environment, will guarantee that manipulator is not positioned at its ken, in order to avoid affect its normal observation in the time arranging.Imaging sonar stagger angle is typically chosen in 10 degree to 20 degree, and this setting angle depends on the target of robot manipulation person to front, or the target of below is interested.
Position fixing system is made up of fixed sonar, and fixed sonar is for determining under-water robot and the relative position of positioning datum in three directions.Fixed sonar comprises water surface main computer unit and responser 51 under water.Water surface main computer unit is responsible for receiving signal, and it is the positioning datum of fixed sonar, and positioning datum is chosen near water surface operator's station conventionally; Responser 51 is arranged in framed structure under water, is responsible for sending a signal to the water surface main computer unit of fixed sonar.
Operating system is made up of manipulator 61, the front portion that it is arranged on robot hits exactly, the below of pick up camera 41 under water, in the time that robot manipulation personnel arrive object or suspicious object object by cameras view, can change the underwater attitude of this object by manipulator, to determine that whether this object is as object.Manipulator also can complete certain task, as salvages specific lightweight object.
Propulsion system is made up of 4 horizontal propellers and 1 vertical pusher.4 horizontal propellers are respectively: be positioned at left front propelling unit 71, be positioned at right front propelling unit 72, be positioned at right back propelling unit 73, be positioned at right back propelling unit 74; 1 vertical pusher 75 is arranged in the midway location of framed structure.The actions such as right front propelling unit and right front propelling unit be by controlling these angle of rake rotatings, and robot can realize advance and retreat, sink-float, balance, turn to: turn to when identical when four propelling unit rotating speeds are identical, robot can be realized and moving forward and backward; When left back, right front angle of rake turning to and left front, right back angle of rake switched in opposite, when rotating speed is identical, can realize angle of rake left side and move with right side and move work; When left front, left back angle of rake turning to and right front, right back angle of rake switched in opposite, when rotating speed is identical, can realize angle of rake handling maneuver; Vertical pusher can control floating sink.Anti-hoisting net is housed on each propelling unit, to prevent that water grass from waiting foreign material to disturb angle of rake work.
Under-water robot generally needs the positive buoyancy of 2-3 kilogram, because miscellaneous equipment generally is negative lift, therefore just needs buoyant module that certain positive buoyancy is provided.Have 4 grooves 83,84,85,86 so that handling position to be set at the upper surface of buoyant module, so that convenient in carrying on the bank.According to the needed 2-3 of robot kilogram positive buoyancy, calculating buoyant module should provide the size of buoyancy, finally calculates the volume of buoyant module.In the time that calculating buoyancy is inadequate, can expand downwards and form boss 82, buoyant module can be subject to the protection of framework like this, makes the profile of robot more attractive in appearance simultaneously.
Search and rescue robot under water in the present embodiment, its distribution design as shown in Figure 4.
Claims (8)
1. a search and rescue robot under water, comprises framed structure, it is characterized in that described framed structure mounted inside electronic compartment group, monitored control system, position fixing system, operating system, searchlighting system, propulsion system, buoyant module; Described electronic compartment group is made up of two cabin bodies, and power transfer module is installed in the first electronic compartment, and electronic control module is installed in the second electronic compartment; Cabin body comprises: cylindrical shell, flat head, and cylindrical shell adopts articulated manner to be connected with flat head; Described monitored control system is made up of the Underwater Camera and the imaging sonar that are positioned at framed structure front portion; Described position fixing system is made up of fixed sonar, and fixed sonar is arranged on top, framed structure left side; Described operating system is made up of manipulator, is installed on the anterior center position of framed structure, under water pick up camera under; Described propulsion system has multiple propelling units, disperses to be installed in framed structure, realizes robot Multidirectional motion; Described buoyant module is positioned at framed structure top.
2. search and rescue robot under water as claimed in claim 1, is characterized in that, the front portion of described framed structure is designed with one and rises angle.
3. search and rescue robot under water as claimed in claim 1 or 2, it is characterized in that, described Underwater Camera has a built-in The Cloud Terrace, and camera can rotate by 360 degree, imaging sonar is a kind of multi-beam sonar, imaging sonar be installed on Underwater Camera under.
4. search and rescue robot under water as claimed in claim 3, is characterized in that, the angle between setting angle and the horizontal surface of imaging sonar is that 10 degree are to 20 degree.
5. search and rescue robot under water as claimed in claim 1, is characterized in that, described fixed sonar is a kind of ultra-short baseline fixed sonar, and has fixed sonar fender.
6. search and rescue robot under water as claimed in claim 1, is characterized in that, described searchlighting system is made up of the first search lamp, the second search lamp and the 3rd search lamp that are positioned at framed structure front portion; The first search lamp, the second search lamp are positioned at framed structure upper front end, be arranged symmetrically with, the 3rd search lamp be arranged on manipulator directly over, three search lamp entirety are equicrural triangle and arrange.
7. search and rescue robot under water as claimed in claim 1, is characterized in that, described propulsion system is made up of 4 horizontal propellers and 1 vertical pusher; 4 horizontal propellers are respectively: be positioned at the left front propelling unit of framed structure, be positioned at the right front propelling unit of framed structure, be positioned at the left back propelling unit of framed structure, be positioned at the right back propelling unit of framed structure; 1 vertical pusher is arranged in the midway location of framed structure, and the setting angle α 1 of 4 horizontal propellers, α 2, α 3, α 4 equate.
8. search and rescue robot under fire demand water as claimed in claim 1, is characterized in that, in described buoyant module, is furnished with center through hole, and the upper surface of buoyant module is a plane, and there is a boss at lower surface middle part, and meanwhile, upper surface has 4 grooves.
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| CN201410323078.7A CN104071318A (en) | 2014-07-08 | 2014-07-08 | Underwater rescue robot |
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| CN201410323078.7A CN104071318A (en) | 2014-07-08 | 2014-07-08 | Underwater rescue robot |
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| CN201410323078.7A Pending CN104071318A (en) | 2014-07-08 | 2014-07-08 | Underwater rescue robot |
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| CN104290886A (en) * | 2014-10-17 | 2015-01-21 | 浙江海洋学院 | Underwater fishing robot |
| CN104515995A (en) * | 2014-12-02 | 2015-04-15 | 深圳控石智能系统有限公司 | Robot anticollision system based on sonar detection |
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| CN105173037A (en) * | 2015-08-11 | 2015-12-23 | 李飞红 | Deep water shooting submergible |
| CN105775073A (en) * | 2016-03-17 | 2016-07-20 | 天津超智海洋科技有限公司 | Modular underwater teleoperator |
| CN105857552A (en) * | 2016-03-18 | 2016-08-17 | 浙江三力士智能装备制造有限公司 | Novel autonomous underwater vehicle |
| CN105923127A (en) * | 2016-07-08 | 2016-09-07 | 北京天心无限科技有限公司 | Integrated underwater searching and rescuing robot |
| CN106005312A (en) * | 2016-06-17 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Underwater operation device for micro-tunnel excavation based on remote operated vehicle (ROV) and operation method thereof |
| CN106101571A (en) * | 2016-08-10 | 2016-11-09 | 长沙矿山研究院有限责任公司 | A kind of deep-sea pull-type camera system |
| CN106477010A (en) * | 2016-12-09 | 2017-03-08 | 武汉益士天慧科技有限公司 | Underwater robot |
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| CN108974288A (en) * | 2018-08-15 | 2018-12-11 | 东莞市凯勒帝数控科技有限公司 | A kind of underwater robot, which is used, is convenient for anticollision device, collision-prevention device |
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| RU192170U1 (en) * | 2019-06-04 | 2019-09-05 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Государственный университет морского и речного флота имени адмирала С.О. Макарова" | UNDERWATER SEARCH UNIT |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104290886A (en) * | 2014-10-17 | 2015-01-21 | 浙江海洋学院 | Underwater fishing robot |
| CN104515995A (en) * | 2014-12-02 | 2015-04-15 | 深圳控石智能系统有限公司 | Robot anticollision system based on sonar detection |
| CN104843156A (en) * | 2015-05-22 | 2015-08-19 | 云南卡索实业有限公司 | Intelligent robot for salvaging underwater physical evidence |
| CN104890844A (en) * | 2015-07-01 | 2015-09-09 | 青岛远创机器人自动化有限公司 | Six-propeller underwater robot |
| CN105035287A (en) * | 2015-07-23 | 2015-11-11 | 牛永友 | Underwater remain exploring method based on data communication |
| CN105173037A (en) * | 2015-08-11 | 2015-12-23 | 李飞红 | Deep water shooting submergible |
| CN105775073A (en) * | 2016-03-17 | 2016-07-20 | 天津超智海洋科技有限公司 | Modular underwater teleoperator |
| CN105857552A (en) * | 2016-03-18 | 2016-08-17 | 浙江三力士智能装备制造有限公司 | Novel autonomous underwater vehicle |
| CN106005312A (en) * | 2016-06-17 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Underwater operation device for micro-tunnel excavation based on remote operated vehicle (ROV) and operation method thereof |
| CN105923127A (en) * | 2016-07-08 | 2016-09-07 | 北京天心无限科技有限公司 | Integrated underwater searching and rescuing robot |
| CN106101571A (en) * | 2016-08-10 | 2016-11-09 | 长沙矿山研究院有限责任公司 | A kind of deep-sea pull-type camera system |
| CN106101571B (en) * | 2016-08-10 | 2021-11-30 | 长沙矿山研究院有限责任公司 | Deep sea drag type camera system |
| CN106477010A (en) * | 2016-12-09 | 2017-03-08 | 武汉益士天慧科技有限公司 | Underwater robot |
| CN106585930A (en) * | 2016-12-09 | 2017-04-26 | 上海遨拓深水装备技术开发有限公司 | Cabled underwater robot configuration method for three-dimensional image sonar |
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| CN112009653A (en) * | 2020-01-02 | 2020-12-01 | 山东交通学院 | Intelligent underwater search and rescue robot and quick combination structure thereof |
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